diff --git a/WorldState2Cones.py b/WorldState2Cones.py
new file mode 100644
index 0000000..1779004
--- /dev/null
+++ b/WorldState2Cones.py
@@ -0,0 +1,46 @@
+#!/usr/bin/env python
+import rospy
+import rosbag
+import csv
+from geometry_msgs.msg import Point, Pose
+
+# time of last world state message
+msg_time = rospy.Time(1565423386, 883208788)
+
+bag = rosbag.Bag("/home/bedskes/rosbags/fsg_trackdrive.bag")
+cones = []
+for topic, msg, t in bag.read_messages(topics = ['/world_state'], start_time = msg_time, end_time = msg_time):
+    objects = msg.objects
+    for object in objects:
+        for property in object.properties:
+            if property.attribute == "position":
+                cones.append(Point(property.pdf.data[1], property.pdf.data[2], 0.29))
+
+with open('fast_raycast/src/test2.csv', mode = 'w') as cone_file:
+    cone_writer = csv.writer(cone_file, delimiter=',')
+    for cone in cones:
+        cone_writer.writerow([cone.x, cone.y, cone.z])
+print("GOT CONES")
+
+positions = []
+for topic, msg, t in bag.read_messages(topics = ['/tf']):
+    for tf in msg.transforms:
+        if tf.header.frame_id == "map" and tf.child_frame_id == "base_link":
+            pos = Pose()
+            pos.position = tf.transform.translation
+            pos.position.z = 0
+            pos.orientation = tf.transform.rotation
+            positions.append(pos)
+
+# output to csv with position, orientation: x, y, z, x, y, z, w
+with open('fast_raycast/src/test_positions.csv', mode = 'w') as position_file:
+    position_writer = csv.writer(position_file, delimiter=',')
+    for pos in positions:
+        position_writer.writerow([pos.position.x,
+                                  pos.position.y,
+                                  pos.position.z,
+                                  pos.orientation.x,
+                                  pos.orientation.y,
+                                  pos.orientation.z,
+                                  pos.orientation.w])
+print("GOT POSITIONS")
diff --git a/fast_raycast/src/fsg_car_positions.csv b/fast_raycast/src/fsg_car_positions.csv
new file mode 100644
index 0000000..9748bd7
--- /dev/null
+++ b/fast_raycast/src/fsg_car_positions.csv
@@ -0,0 +1,28446 @@
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diff --git a/fast_raycast/src/fsg_cones.csv b/fast_raycast/src/fsg_cones.csv
new file mode 100644
index 0000000..5dbab83
--- /dev/null
+++ b/fast_raycast/src/fsg_cones.csv
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